
We derive a novel time-domain signal model for OTFS radar by explicitly taking into account the ISI and ICI effects. This allows detection of targets directly using the time-domain observations in a low-complexity manner without transformation to delay-Doppler domain and enables turning ISI/ICI into an advantage for sensing.

Based on the new model, we propose an ISI/ICI embracing approach to surpass the range/velocity ambiguity barrier encountered in existing OFDM [1]}, [2]} and OTFS [3]}, [4]}, [5]} radar algorithms, which enables detection of any practically relevant range/velocity.

We design a generalized likelihood ratio test (GLRT) based detector/estimator for OTFS radar that simultaneously compensates for the ISI/ICI and harnesses their properties to improve performance.

